In [1]:
import numpy as np
import cv2
import glob
import matplotlib.pyplot as plt
import matplotlib.image as mpimg
from tqdm import tqdm
import pickle
calibration_file = "camera_cal/calibration.p"
%matplotlib inline
In [2]:
def camera_calibration(image_path_mask):
# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(8,5,0)
objp = np.zeros((6*9,3), np.float32)
objp[:,:2] = np.mgrid[0:9, 0:6].T.reshape(-1,2)
# Arrays to store object points and image points from all the images.
objpoints = [] # 3d points in real world space
imgpoints = [] # 2d points in image plane.
# Make a list of calibration images
images = glob.glob(image_path_mask)
images_pbar = tqdm(images, 'Calibrating', unit='images')
# Step through the list and search for chessboard corners
for idx, fname in enumerate(images_pbar):
img = cv2.imread(fname)
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
# Find the chessboard corners
ret, corners = cv2.findChessboardCorners(gray, (9,6), None)
# If found, add object points, image points
if ret == True:
objpoints.append(objp)
imgpoints.append(corners)
return objpoints, imgpoints
In [3]:
# Calibrate camera
objpoints, imgpoints = camera_calibration('camera_cal/calibration*.jpg')
img = cv2.imread('camera_cal/calibration1.jpg')
img_size = (img.shape[1], img.shape[0])
# Do camera calibration given object points and image points
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, img_size, None, None)
# Save the camera calibration result for later use
calibration = {}
calibration["mtx"] = mtx
calibration["dist"] = dist
pickle.dump(calibration, open(calibration_file, "wb"))
print('Calibartion results are stored')
In [4]:
with open(calibration_file, mode='rb') as f:
calibration = pickle.load(f)
# Test undistortion on an image
img = cv2.imread('camera_cal/calibration1.jpg')
mtx = calibration["mtx"]
dist = calibration["dist"]
dst = cv2.undistort(img, mtx, dist, None, mtx)
# Visualize undistortion
f, (ax1, ax2) = plt.subplots(1, 2, figsize=(20,10))
ax1.imshow(img)
ax1.set_title('Original Image', fontsize=30)
ax2.imshow(dst)
ax2.set_title('Undistorted Image', fontsize=30)
Out[4]:
In [5]:
# Globals
img_size = (1280, 720)
# Points on original image
src = np.float32(
#Top point of left lane marking line
[[(img_size[0] / 2) - 50, img_size[1] / 2 + 90],
#Bottom point of left lane marking line
[img_size[0] / 5, img_size[1]],
#Bottom point of left lane marking line
[(img_size[0] * 5 / 6) + 50, img_size[1]],
#Top point of left lane marking line
[(img_size[0] / 2 + 60), img_size[1] / 2 + 90]])
# Points on transformed image
dst = np.float32(
[[(img_size[0] / 4), 0],
[(img_size[0] / 4), img_size[1]],
[(img_size[0] * 3 / 4), img_size[1]],
[(img_size[0] * 3 / 4), 0]])
M = cv2.getPerspectiveTransform(src, dst)
Minv = np.linalg.inv(M)
nwindows = 9
max_diff = 0.0006
max_prev_diff = 0.00035
min_curve_arg = 1e-04
max_fail_iterations = 3
min_distance_threshold = 1.5 #1.5 meters
ym_per_pix = 30/720 # meters per pixel in y dimension
xm_per_pix = 3.7/700 # meters per pixel in x dimension
font = cv2.FONT_HERSHEY_SIMPLEX
bottomLeftCornerOfText1 = (30, 50)
bottomLeftCornerOfText2 = (30, 100)
fontScale = 2
fontColor = (255,255,255)
In [6]:
# Class Line
class Line():
def __init__(self):
# was the line detected in the last iteration?
self.detected = False
# x values of the last n fits of the line
self.recent_xfitted = []
# x values of the last n fits of the line
self.recent_yfitted = []
#average x values of the fitted line over the last n iterations
self.bestx = None
#polynomial coefficients averaged over the last n iterations
self.best_fit = None
#polynomial coefficients for the most recent fit
self.current_fit = [np.array([False])]
#radius of curvature of the line in some units
self.radius_of_curvature = None
#distance in meters of vehicle center from the line
self.line_base_pos = 2
#difference in fit coefficients between last and new fits
self.diffs = np.array([0,0,0], dtype='float')
#x values for detected line pixels
self.allx = []
#y values for detected line pixels
self.ally = []
def build_pixels(self, x, y):
self.recent_xfitted = x
self.recent_yfitted = y
self.allx.append(x)
self.ally.append(y)
return
def get_x_pixels(self):
return np.array(self.allx).reshape(-1)
def get_y_pixels(self):
return np.array(self.ally).reshape(-1)
def reset(self):
self.allx = []
self.ally = []
In [7]:
def mag_thresh(img, sobel_kernel=3, mag_thresh=(0, 255)):
# Calculate gradient magnitude
# Apply threshold
gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
sobelx = cv2.Sobel(gray, cv2.CV_64F, 1, 0, ksize = sobel_kernel)
sobely = cv2.Sobel(gray, cv2.CV_64F, 0, 1, ksize = sobel_kernel)
abs_sobel = np.sqrt(np.power(sobelx, 2) + np.power(sobely, 2))
scaled_sobel = np.uint8(255 * abs_sobel / np.max(abs_sobel))
mag_binary = np.zeros_like(scaled_sobel)
mag_binary[(scaled_sobel >= mag_thresh[0]) & (scaled_sobel <= mag_thresh[1])] = 1
return mag_binary
def dir_threshold(img, sobel_kernel=3, thresh=(0, np.pi/2)):
# Calculate gradient direction
# Apply threshold
gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
sobelx = cv2.Sobel(gray, cv2.CV_64F, 1, 0, ksize = sobel_kernel)
sobely = cv2.Sobel(gray, cv2.CV_64F, 0, 1, ksize = sobel_kernel)
abs_sobelx = np.absolute(sobelx)
abs_sobely = np.absolute(sobely)
dir = np.arctan2(abs_sobely, abs_sobelx)
dir_binary = np.zeros_like(dir)
dir_binary[(dir >= thresh[0]) & (dir <= thresh[1])] = 1
return dir_binary
def pipeline(img, s_thresh=(170, 255), sx_thresh=(20, 100)):
gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
# Convert to HSV color space and separate the V channel
hsv = cv2.cvtColor(img, cv2.COLOR_RGB2HLS).astype(np.float)
s_channel = hsv[:,:,2]
# Sobel x
sobelx = cv2.Sobel(s_channel, cv2.CV_64F, 1, 0) # Take the derivative in x
abs_sobelx = np.absolute(sobelx) # Absolute x derivative to accentuate lines away from horizontal
scaled_sobel = np.uint8(255*abs_sobelx/np.max(abs_sobelx))
# Threshold gray
g_binary = np.zeros_like(gray)
g_binary[(gray > 180) & (gray <= 255)] = 1
# Threshold x gradient
sxbinary = np.zeros_like(scaled_sobel)
sxbinary[(scaled_sobel >= sx_thresh[0]) & (scaled_sobel <= sx_thresh[1])] = 1
# Threshold color channel
s_binary = np.zeros_like(s_channel)
s_binary[(s_channel >= s_thresh[0]) & (s_channel <= s_thresh[1])] = 1
mag_binary = mag_thresh(img, sobel_kernel=9, mag_thresh=(30, 100))
dir_binary = dir_threshold(img, sobel_kernel=15, thresh=(0.7, 1.3))
combined_binary = np.zeros_like(sxbinary)
combined_binary[((s_binary == 1) & (g_binary == 1)) | (sxbinary == 1) | ((mag_binary == 1) & (dir_binary == 1))] = 1
return combined_binary
def region_of_interest(img, vertices):
"""
Applies an image mask.
Only keeps the region of the image defined by the polygon
formed from `vertices`. The rest of the image is set to black.
"""
#defining a blank mask to start with
mask = np.zeros_like(img)
#defining a 3 channel or 1 channel color to fill the mask with depending on the input image
if len(img.shape) > 2:
channel_count = img.shape[2] # i.e. 3 or 4 depending on your image
ignore_mask_color = (255,) * channel_count
else:
ignore_mask_color = 255
#filling pixels inside the polygon defined by "vertices" with the fill color
cv2.fillPoly(mask, vertices, ignore_mask_color)
#returning the image only where mask pixels are nonzero
masked_image = cv2.bitwise_and(img, mask)
return masked_image
In [8]:
# Load calibration results (undependetly from another cell above to test images)
with open(calibration_file, mode='rb') as f:
calibration = pickle.load(f)
mtx = calibration["mtx"]
dist = calibration["dist"]
images = glob.glob('test_images/*.jpg')
for idx, fname in enumerate(images):
name = fname.split('\\')[1].split('.')
image = mpimg.imread(fname)
undist = cv2.undistort(image, mtx, dist, None, mtx)
mpimg.imsave('output_images/' + name[0] + '_u.' + name[1], undist)
result = pipeline(image)
mpimg.imsave('output_images/' + name[0] + '_p.' + name[1], result, cmap='gray')
In [9]:
images = glob.glob('test_images/*.jpg')
f, axes = plt.subplots(len(images), 2, figsize=(20, 30))
for idx, fname in enumerate(images):
name = fname.split('\\')[1].split('.')
image = mpimg.imread(fname)
result = pipeline(image)
undist = cv2.undistort(result, mtx, dist, None, mtx)
img_size = (image.shape[1], image.shape[0])
warped = cv2.warpPerspective(undist, M, img_size, flags=cv2.INTER_LINEAR)
mpimg.imsave('output_images/' + name[0] + '_out.' + name[1], warped, cmap='gray')
axes[idx][0].imshow(image)
axes[idx][0].set_title('Original Image', fontsize=30)
axes[idx][1].imshow(warped, cmap='gray')
axes[idx][1].set_title('Thresholded Grad. UnWarp.', fontsize=30)
In [10]:
'''
Basic function to process one video frame (image)
'''
def process_frame(image):
global startedFromScratch
global maxErrors
global fail_iterations
global iteration
iteration = iteration + 1
undist = cv2.undistort(image, mtx, dist, None, mtx)
img_size = (image.shape[1], image.shape[0])
warped = cv2.warpPerspective(undist, M, img_size, flags=cv2.INTER_LINEAR)
binary_warped = pipeline(warped)
if len(binary_warped.shape) > 2:
binary_warped = cv2.cvtColor(binary_warped, cv2.COLOR_RGB2GRAY)
ysize = binary_warped.shape[0]
xsize = binary_warped.shape[1]
#Define maximal extensions to detect lane markings
left_bottom = [200, ysize]
right_bottom = [xsize - 200, ysize]
left_top = [200, 0]
right_top = [xsize - 200, 0]
vertices = np.array([[(left_bottom[0], left_bottom[1]),
(left_top[0], left_top[1]),
(right_top[0], right_top[1]),
(right_bottom[0], right_bottom[1])]], dtype=np.int32)
binary_warped = region_of_interest(binary_warped, vertices)
# Previous N Frames were unsuccessfully - start from scratch
if startedFromScratch == True or maxErrors == True:
# Take a histogram of the bottom half of the image
histogram = np.sum(binary_warped[binary_warped.shape[0]//2:, :], axis=0)
# Find the peak of the left and right halves of the histogram
# These will be the starting point for the left and right lines
midpoint = np.int(histogram.shape[0]/2)
leftx_base = np.argmax(histogram[:midpoint])
rightx_base = np.argmax(histogram[midpoint:]) + midpoint
else:
leftx_base = left_line.bestx
rightx_base = right_line.bestx
# Set height of windows
window_height = np.int(binary_warped.shape[0]/nwindows)
# Identify the x and y positions of all nonzero pixels in the image
nonzero = binary_warped.nonzero()
nonzeroy = np.array(nonzero[0])
nonzerox = np.array(nonzero[1])
# Current positions to be updated for each window
leftx_current = leftx_base
rightx_current = rightx_base
# Set the width of the windows +/- margin
margin = 100
# Set minimum number of pixels found to recenter window
minpix = 50
left_x = []
left_y = []
right_x = []
right_y = []
found = False
#Loop of attempts to detect at least some pixels on left and right sides
while found == False:
# Create empty lists to receive left and right lane pixel indices
left_lane_inds = []
right_lane_inds = []
# Step through the windows one by one
for window in range(nwindows):
# Identify window boundaries in x and y (and right and left)
win_y_low = binary_warped.shape[0] - (window+1)*window_height
win_y_high = binary_warped.shape[0] - window*window_height
win_xleft_low = leftx_current - margin
win_xleft_high = leftx_current + margin
win_xright_low = rightx_current - margin
win_xright_high = rightx_current + margin
# Identify the nonzero pixels in x and y within the window
good_left_inds = ((nonzeroy >= win_y_low) & (nonzeroy < win_y_high) &
(nonzerox >= win_xleft_low) & (nonzerox < win_xleft_high)).nonzero()[0]
good_right_inds = ((nonzeroy >= win_y_low) & (nonzeroy < win_y_high) &
(nonzerox >= win_xright_low) & (nonzerox < win_xright_high)).nonzero()[0]
# Append these indices to the lists
left_lane_inds.append(good_left_inds)
right_lane_inds.append(good_right_inds)
# If you found > minpix pixels, recenter next window on their mean position
if len(good_left_inds) > minpix:
leftx_current = np.int(np.mean(nonzerox[good_left_inds]))
if len(good_right_inds) > minpix:
rightx_current = np.int(np.mean(nonzerox[good_right_inds]))
# Concatenate the arrays of indices
left_lane_inds = np.concatenate(left_lane_inds)
right_lane_inds = np.concatenate(right_lane_inds)
# Extract line pixel positions
left_x = nonzerox[left_lane_inds]
left_y = nonzeroy[left_lane_inds]
right_x = nonzerox[right_lane_inds]
right_y = nonzeroy[right_lane_inds]
if len(left_x) != 0 and len(left_y) != 0 and len(right_x) != 0 and len(right_y) != 0:
found = True
break
#Position is wrong - reset to histogram
histogram = np.sum(binary_warped[binary_warped.shape[0]//2:, :], axis=0)
# Find the peak of the left and right halves of the histogram
# These will be the starting point for the left and right lines
midpoint = np.int(histogram.shape[0]/2)
leftx_current = np.argmax(histogram[:midpoint])
rightx_current = np.argmax(histogram[midpoint:]) + midpoint
#Set to True to avoid endless loop
found = True
#Not found
if found == False:
fail_iterations = fail_iterations + 1
left_line.detected = False
right_line.detected = False
return undist
# Fit a second order polynomial
left_current_fit = np.polyfit(left_y, left_x, 2)
right_current_fit = np.polyfit(right_y, right_x, 2)
#Build pixel arrays
ploty = np.linspace(0, binary_warped.shape[0]-1, binary_warped.shape[0] )
left_fitx = left_current_fit[0]*ploty**2 + left_current_fit[1]*ploty + left_current_fit[2]
right_fitx = right_current_fit[0]*ploty**2 + right_current_fit[1]*ploty + right_current_fit[2]
#Evaluate radiuses of curvature
#Evaluate radiuses of curvature
y_eval = np.max(ploty)
# Fit new polynomials to x,y in world space
left_fit_cr = np.polyfit(left_y*ym_per_pix, left_x*xm_per_pix, 2)
right_fit_cr = np.polyfit(right_y*ym_per_pix, right_x*xm_per_pix, 2)
# Calculate the new radii of curvature
left_curverad = ((1 + (2*left_fit_cr[0]*y_eval*ym_per_pix + left_fit_cr[1])**2)**1.5) / np.absolute(2*left_fit_cr[0])
right_curverad = ((1 + (2*right_fit_cr[0]*y_eval*ym_per_pix + right_fit_cr[1])**2)**1.5) / np.absolute(2*right_fit_cr[0])
#Parallelism difference
parallel_diff = np.abs(np.subtract(left_current_fit[0], right_current_fit[0]))
diff = np.subtract(right_fitx, left_fitx)*xm_per_pix
#Minimal distance between two lines
min_distance = np.amin(diff)
#Check, whether both functions have the same figure, otherwise - set to max
#Only for enough curved lines
if min_distance < min_distance_threshold:
parallel_diff = max_diff
else:
if abs(left_current_fit[0]) > min_curve_arg and abs(right_current_fit[0]) > min_curve_arg:
if (left_current_fit[0] < 0 and right_current_fit[0] > 0) or (left_current_fit[0] > 0 and right_current_fit[0] < 0):
parallel_diff = max_diff
#Previous diff
if startedFromScratch == False:
left_prev_diff = np.abs(np.subtract(left_line.current_fit[0], left_current_fit[0]))
right_prev_diff = np.abs(np.subtract(right_line.current_fit[0], right_current_fit[0]))
else:
left_prev_diff = 0
right_prev_diff = 0
#Sanity check
if parallel_diff < max_diff and left_prev_diff < max_diff and right_prev_diff < max_diff:
# Check is successful
left_line.current_fit = left_current_fit
right_line.current_fit = right_current_fit
left_line.bestx = leftx_current
right_line.bestx = rightx_current
left_line.build_pixels(left_fitx, ploty)
right_line.build_pixels(right_fitx, ploty)
left_line.detected = True
right_line.detected = True
fail_iterations = 0
startedFromScratch = False
else:
if startedFromScratch == True:
#No success before - generate some batch of data
#Go from bottom to top until distance is more than minimal
#First - reverse arrays to fo from bottom
rev_left_fitx = np.flipud(left_fitx)
rev_right_fitx = np.flipud(right_fitx)
#Condition - minimal distance
condition = np.subtract(rev_right_fitx, rev_left_fitx) >= min_distance_threshold
#Extract sub arrays
left_fitx = np.extract(condition, rev_left_fitx)
right_fitx = np.extract(condition, rev_right_fitx)
#Arrange y-values
ploty = np.flipud(ploty)[:len(left_fitx)]
#Set status like successful
left_line.current_fit = left_current_fit
right_line.current_fit = right_current_fit
left_line.bestx = leftx_current
right_line.bestx = rightx_current
left_line.build_pixels(left_fitx, ploty)
right_line.build_pixels(right_fitx, ploty)
left_line.detected = True
right_line.detected = True
fail_iterations = 0
startedFromScratch = False
else:
fail_iterations = fail_iterations + 1
left_fitx = left_line.recent_xfitted
right_fitx = right_line.recent_xfitted
#y-dimension must be the same
ploty = left_line.recent_yfitted
left_line.detected = False
right_line.detected = False
# Create an image to draw the lines on
warp_zero = np.zeros_like(warped).astype(np.uint8)
color_warp = warp_zero #np.dstack((warp_zero, warp_zero, warp_zero))
# Recast the x and y points into usable format for cv2.fillPoly()
if len(left_fitx) > 0 and len(right_fitx) > 0:
pts_left = np.array([np.transpose(np.vstack([left_fitx, ploty]))])
pts_right = np.array([np.flipud(np.transpose(np.vstack([right_fitx, ploty])))])
pts = np.hstack((pts_left, pts_right))
#Define average curve radius
curverad = np.average([left_curverad, right_curverad])
#Define position by getting average between last elements of array (most bottom position)
left_pos = left_fitx[-1]
right_pos = right_fitx[-1]
vehicle_pos = np.average([left_pos, right_pos])
if (vehicle_pos < xsize / 2):
pos_text = 'left of center'
else:
pos_text = 'right of center'
pos_text = 'Vehicle is ' + "{:.2f}".format(vehicle_pos * xm_per_pix) + 'm ' + pos_text
# Draw the lane onto t he warped blank image
cv2.fillPoly(color_warp, np.int_([pts]), (0, 255, 0))
cv2.putText(undist, 'Radius of curvature = ' + "{:.2f}".format(curverad) + ' (m)', bottomLeftCornerOfText1, font, fontScale, fontColor, 2)
cv2.putText(undist, pos_text, bottomLeftCornerOfText2, font, fontScale, fontColor, 2)
# Warp the blank back to original image space using inverse perspective matrix (Minv)
newwarp = cv2.warpPerspective(color_warp, Minv, (image.shape[1], image.shape[0]))
# Combine the result with the original image
result = cv2.addWeighted(undist, 1, newwarp, 0.3, 0)
if fail_iterations >= max_fail_iterations:
maxErrors = True
left_line.reset()
right_line.reset()
return result
In [11]:
images = glob.glob('test_images/*.jpg')
f, axes = plt.subplots(len(images), 2, figsize=(20, 30))
for idx, fname in enumerate(images):
name = fname.split('\\')[1].split('.')
image = mpimg.imread(fname)
left_line = Line()
right_line = Line()
startedFromScratch = True
maxErrors = False
fail_iterations = 0
iteration = 0
out_image = process_frame(image)
mpimg.imsave('output_images/' + name[0] + '_res.' + name[1], out_image)
axes[idx][0].imshow(image)
axes[idx][0].set_title('Original Image', fontsize=30)
axes[idx][1].imshow(out_image)
axes[idx][1].set_title('Result Image', fontsize=30)
In [13]:
from moviepy.editor import VideoFileClip
from IPython.display import HTML
In [14]:
output = 'output_videos/project_video.mp4'
left_line = Line()
right_line = Line()
startedFromScratch = True
maxErrors = False
fail_iterations = 0
iteration = 0
in_clip = VideoFileClip("project_video.mp4")
out_clip = in_clip.fl_image(process_frame)
%time out_clip.write_videofile(output, audio=False)
In [15]:
HTML("""
<video width="960" height="540" controls>
<source src="{0}">
</video>
""".format(output))
Out[15]:
In [16]:
c_output = 'output_videos/challenge_video.mp4'
left_line = Line()
right_line = Line()
startedFromScratch = True
maxErrors = False
fail_iterations = 0
iteration = 0
in_c_clip = VideoFileClip("challenge_video.mp4")
out_c_clip = in_c_clip.fl_image(process_frame)
%time out_c_clip.write_videofile(c_output, audio=False)
In [17]:
HTML("""
<video width="960" height="540" controls>
<source src="{0}">
</video>
""".format(c_output))
Out[17]:
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